KR101551726B1 - Method and apparatus for diagnosing where abnormal state of degaussing coils of naval ship - Google Patents

Abstract

The present invention relates to a method and an apparatus for diagnosing a location of a degaussing coil in an abnormal condition in a naval ship. The apparatus for diagnosing a location of a degaussing coil in an abnormal condition in a naval ship according to the present invention comprises: a signal measurement unit (110) to measure a magnetic field signal generated in a naval ship; a preprocessing unit (130) to divide a hull surface of the naval ship into a plurality of surface elements to distribute magnetic charges which are magnetic field signal sources on the hull surface of the naval ship in a discrete form, and set measurement data measured by the signal measurement unit as target data for inverse problem analysis; an inverse problem analysis unit (150) to use an inverse problem analysis method based on the magnetic field signal measured by the signal measurement unit and shape information of the naval ship divided into the plurality of surface elements by the preprocessing unit to determine an intensity of the magnetic charge distributed at a node of each element edge of the naval ship; and a visualization unit (170) to visualize a magnetic distribution of the hull surface derived from an analysis result by the inverse problem analysis unit in three dimensions to diagnose a location of a degaussing coil in an abnormal condition in the naval ship. By using the method and the apparatus for diagnosing a location of a degaussing coil in an abnormal condition in a naval ship according to the present invention, a magnetic charge distribution of a hull of a target naval ship can be estimated through inverse problem analysis from a measured underwater magnetic field of the target naval ship and visualized in three dimensions to promptly estimate a location of a degaussing coil in an abnormal condition. Therefore, time required to diagnose the location of the degaussing coil in the abnormal condition in the naval ship can be drastically shortened.

Description

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a method and apparatus for diagnosing the position of an element coil of an unsteady trap,

The present invention relates to a method and an apparatus for diagnosing the position of an element coil of an unsteady trap, and more particularly, to an inverse problem analysis method using a medium sensitivity method based on a measured magnetic field signal, And to a method and an apparatus for diagnosing the position of an element coil of a trap which is in an abnormal state.

Since the 16th century, the mine, which was developed for the purpose of blocking the access of the ship through the sea and neutralizing the function of the ship, proved its effectiveness through numerous wars. . In addition, it can be strategically used at low cost compared to high-cost weapons such as guns, missiles, and submarines, and it does not require complicated technology, .

The types of mines vary greatly depending on the mode of operation and type of mine. The most commonly used mine-type self-sensing mine detects the static magnetic field generated in the ship by using the magnetic sensor inside. The static magnetic field from the ship is a signal caused by iron, which is a ferromagnetic material that forms the ship's hull. Although the static magnetic field generated from the ferromagnetic hull has a disadvantage in that it is difficult to detect at a long distance due to a very severe attenuation of the signal depending on the distance, unlike the acoustic signal, even in a region where detection performance due to external environmental noise is very limited There is an advantage that it can be clearly identified. Especially in recent years, the development of signal processing technology with the development of high sensitivity magnetic sensor that can detect with the precision of thousands to tens of thousands of days of the earth magnetic field based on the growth of the semiconductor and IT industry can detect the generated magnetic field more precisely at a distance You may. Therefore, in order to increase the survivability of the trap, it is necessary to minimize the magnetic field generated from the trap.

Techniques for reducing the magnetic field generated by a ferromagnetic material under a geomagnetic system are typically composed of depermation and degaussing, which are techniques for attenuating permanent magnetic fields and induced magnetic fields, to be. The demagnetization is a method of reducing the permanent magnetic field component magnetized on the hull of a ferromagnetic material by applying a strong magnetic field outside the compartment and gradually reducing it. The element places a separate coil in the three axial directions in the vessel, To reduce the magnetic field of the entire vessel. In order to reduce the traps magnetic field, first, the permanent magnetic field component of the trap is reduced through the demagnetization, and the permanent magnetic field component and the induced magnetic field component remaining after demagnetization are canceled by using the element coils mounted in the vessel, By applying a device current that can be applied. Therefore, it is very important to minimize the underwater magnetic field of the ship through proper operation of the element coil to enhance the survival of the ship from the intelligent and elaborate self-sensing mines.

However, when an abnormal state of the element coil occurs such as a failure in a part of the element coil or a change in the magnetic field characteristic locally due to various factors such as the operating condition of the vessel, the environment and electrical deterioration, The underwater magnetic field signal around it suddenly increases and becomes a fatal factor in the survival of the ship. In order to eliminate these defects, the target vessel should return to the magnetometer as soon as possible to locate the fault coil, or to locate the element coil, which is an abnormal state, such as a target coil, which needs to be recalibrated. In order to understand the position of the element coil which is in an abnormal state such as the coil of the fault element or the coil which needs to be re-calibrated, it is generally necessary to check the operation plan of the electric wiring diagram and the element coil for each element coil Therefore, considerable time is required to diagnose the element coils that need to be supplemented. This can result in serious damage to the power of the allied forces, resulting in limitations on the operation of ships.

It is an object of the present invention to provide an apparatus and a method for repairing a specific element coil due to the occurrence of a failure in a part of an element coil installed in a vessel or a magnetic field characteristic of the vessel being locally changed by an external environment, Unlike the conventional method, which requires a considerable time to diagnose an abnormal condition, the submersion distribution of the hull is predicted by using the underwater magnetic field signal measured from the ship, We suggest a method that can be identified.

Using the apparatus for diagnosing the position of the element coil of an abnormal state traps according to the present invention, it is possible to carry out a process of examining the design of the target vessel, the electric wiring diagram in the vessel for the element coil, and the normal operation test operation for each element coil It is possible to accurately estimate the position of the element coil which is in an abnormal state.

The present invention provides the following technique to solve the above problems.

According to an embodiment of the present invention, an apparatus for diagnosing the position of an element coil of an unsteady trap includes a signal measuring unit 110 for measuring a magnetic field signal generated in a trap; The surface of the ship's hull is divided into a plurality of surface elements in order to distribute the magnetic charge in the form of discrete form of the magnetic charge signal on the surface of the ship's hull and the measurement data measured by the signal measuring unit 110 A preprocessing unit 130 for setting the target data as target data for inverse problem analysis; A magnetic field signal of the traps measured by the signal measuring unit 110 and an inverse problem analysis method based on the shape information of the traps divided into a plurality of surface elements by the preprocessing unit 130 An inverse problem analysis unit 150 for determining a magnitude of a magnetic charge distributed to nodes of each element of the vessel; And a visualization unit 170 for visualizing the magnetic field distribution of the surface of the hull, which is derived from the analysis result of the inverse problem analysis unit, in three dimensions and diagnosing the position of the element coil of the unstable vessel.

According to another embodiment of the present invention, the signal measuring unit 110 may include a plurality of magnetic field sensors installed at a certain depth for detecting a magnetic field signal, and a magnetic path sensor for measuring a movement trajectory of the traps to measure a relative distance between the magnetic field sensor and the trap And a data storage device for storing the signals measured from the magnetic field sensor and the terrestrial control device 310. The terrestrial control device 310 includes a terrestrial control device 310,

According to another embodiment of the present invention, the land control device 310 and the marine control device 210 are DGPS (Differential GPS) devices.

According to another embodiment of the present invention, the inverse problem analyzing unit 150 may calculate the inverse problem analyzing method using the inverse problem analyzing method from the target data, The magnitude of the magnetic field signal at the measurement position is calculated again from the magnitude of the obtained magnetic field, and the calculated result is compared with the measurement result as the target data. If the difference exists within the convergence range of the objective function, And terminates the process.

According to another embodiment of the present invention, the objective function may include a difference between a magnitude of a magnitude of a magnetic field signal observed at a certain depth before an abnormal state of an element coil of the vessel and an abnormal state occurs, And a sum of squares of the difference between the magnitude and the magnitude.

According to yet another embodiment of the present invention, the visualization unit 170 is configured to visualize the magnetic charge distribution of the hull in three dimensions, so as to diagnose that the element coil between the negative and positive distributions of the magnetic charge is in an abnormal state, And a positive and a negative distribution of the negative and positive values.

According to another embodiment of the present invention, the position of an element coil of an abnormal state trap including the signal measuring unit 110, the preprocessing unit 130, the inverse problem analyzing unit 150, and the visualizing unit 170 is diagnosed As a method,

(a) As the trajectory moves along a predetermined trajectory, a signal of the sensor according to the relative distance between the magnetic field sensor and the vessel is received by the marine control device 210 and the land control device 310 of the signal measuring unit, Measuring (S401);

(b) dividing the surface of the hull of the ship into a plurality of surface elements by the pre-processing unit in order to distribute the magnetic field signal to the surface of the hull of the ship in a discretized form (S402);

(c) using the inverse problem analysis method by the inverse problem analysis unit, based on the magnetic field signal of the trap measured by the signal measuring unit and the shape information of the trap divided into a plurality of surface elements by the preprocessing unit (S403) of determining the magnitude of the magnetic field distributed to the nodes of the respective elements of the vessel; And

(d) visualizing the hypocentral distribution of the surface of the hull, which is derived from the inverse problem analysis result by the inverse problem analysis unit, in three dimensions, and diagnosing the position of the element coil of the trap in an abnormal state (S404).

According to another embodiment of the present invention, the inverse problem analysis method in the step (c)

Defining a design parameter and an objective function for calculating a magnitude of a magnetic field signal;

Collecting the shape information of the traps divided into a plurality of surface elements by the preprocessing unit and the magnetic field signal of the traps measured by the signal measuring unit after the design variables and the objective function are defined;

)를 0으로 설정하고 k번째 반복단계에서 구해진 설계변수의 크기(

)를 바탕으로 측정지점과 동일한 지점에서의 자기장 신호의 크기(

)를 계산하는 단계;The initial values of the design variables

) Is set to 0 and the size of the design variable obtained in the k-th iteration step (

The magnitude of the magnetic field signal at the same point as the measurement point (

);

)로 부터 목적함수(

), 가상소스(

) 및 보조변수(

)를 각각 계산하는 단계;The magnitude of the calculated magnetic field signal (

) From the objective function (

), A virtual source (

) And auxiliary variables (

Respectively;

)와 보조변수(

)를 바탕으로 매질 민감도(

)를 계산하는 단계;The calculated virtual source (

) And auxiliary variables (

) On the basis of the medium sensitivity

);

)와 목적함수(

)의 크기에 의해 해(解)의 수렴 여부를 판단하는 단계; 및The calculated medium sensitivity (

) And the objective function (

Determining whether the solution is converged by the size of the solution; And

)의 크기를 달리하여 해가 수렴될 때까지 상기 목적함수(

)와 매질 민감도(

)를 계산하는 과정을 반복 수행하는 단계를 포함한다.As a result of the determination, if the solution converges, the inverse problem interpretation is terminated. If convergence is not achieved,

) Until the solution is converged,

) And medium sensitivity

) Is repeatedly performed.

According to another embodiment of the present invention, the design variables are obtained by dividing the surface of the hull into a plurality of finite elements, and then calculating the magnitude of the magnetization having the vector quantity in the element as a self-charge shape having a scalar quantity on each line segment constituting the element And the objective function is defined as a difference between the magnitude of the magnitude of the magnetic field signal observed at a certain depth before and after the occurrence of the abnormal state of the element coil of the trap and the magnitude of the magnitude of the magnetic field signal calculated based on the design parameter Is a result of summing all the squares of < RTI ID = 0.0 >

)를 바탕으로 계산한 자기장 신호의 크기(

)는 다음의 수식으로 표현되는 것을 특징으로 한다.According to another embodiment of the present invention, the size of the design variable (

The magnitude of the magnetic field signal calculated on the basis of

) Is expressed by the following equation.

는 자기 투자율,

는 선체 두께,

는 k번째 요소 선분에서의 자하량,

은 선체 표면의 k번째 요소 선분과 관측점 사이의 거리,

은 해당 요소의 선분의 길이이다.here,

Magnetic permeability,

Is the thickness of the hull,

Is the self-contained amount in the kth element line segment,

Is the distance between the kth element line segment of the hull surface and the observation point,

Is the length of the line segment of the element.

)는 다음의 수식으로 표현되는 것을 특징으로 한다.According to another embodiment of the present invention, the objective function (

) Is expressed by the following equation.

는 수중 자기장이다. 여기서 아래 문자인 i는 각각 방향 벡터인 X축, Y축, Z축이고, j는 관측점이다. 또한,

는 관측점의 개수이고,

은 선체를 분할한 요소의 전체 선분의 개수이다.Here, the shoulder letters nor and abnor are normal and abnormal element states, respectively,

Is an underwater magnetic field. Here, the following character i is an X-axis, a Y-axis, and a Z-axis, which are direction vectors, and j is a viewpoint. Also,

Is the number of observation points,

Is the total number of line segments of the element that divides the hull.

) 및 보조변수(

)는 각각 다음의 수식으로 표현되는 것을 특징으로 한다.According to another embodiment of the present invention, the virtual source (

) And auxiliary variables (

) Are expressed by the following equations.

는

번째 관측점에서 자화량(

)의

번째 방향성분이고, 선체 요소의

번째 선분에서의 보조변수(

)는 각 관측점에서 자화량

에 의해 발생하는

번째 선분에서의 자기전위의 합이다.here,

The

Magnetization amount at the second observation point (

)of

Of the hull element,

Of the second line segment (

) Is the magnitude of magnetization

Caused by

Lt; th > line segment.

)는 다음의 수식으로 표현되는 것을 특징으로 한다.According to another embodiment of the present invention, the medium sensitivity (

) Is expressed by the following equation.

는 요소의

번째 선분에서 계산되는 매질 민감도 값이다.here,

Of the element

Is the medium sensitivity value calculated in the second line segment.

According to still another embodiment of the present invention, the step (d) is a step of visualizing the distribution of the magnetic charge of the hull in three dimensions and grasping the negative and positive distribution of the magnetic charge, It can be understood that the element coil between the negative and positive distributions of the magnetic charge is in an abnormal state.

In the present invention, a method of estimating the undershoot distribution of the hull of the target vessel through the inverse problem analysis from the measured underwater magnetic field signal, and searching for the coil position in an abnormal state based on the estimation. In contrast to the conventional method of detecting unsteady element coils by examining the design drawings and directly testing each element coil when anomalies occur in some element coils installed in the traps, the inverse problem analysis from the measured underwater magnetic field of the target vessel The distribution of the negative and positive values of the magnetic charge is obtained by visualizing the distribution of the self-charge of the hull through three-dimensional visualization, and the distribution of the negative and positive values of the magnetic charge is plotted. The position of the element coil in an abnormal state can be quickly estimated by detecting that the element coil is in an abnormal state, so that the time required for diagnosing the position of the element coil of the abnormal state trap can be drastically shortened. Therefore, not only the temporal / economic gain in terms of maintenance / maintenance of the element coil, but also the performance of the magnetic field stealth in the trap can be ensured, which ultimately contributes greatly to the improvement of the survival of the trap.

BRIEF DESCRIPTION OF THE DRAWINGS Figure 1 is a layout of element coils in a vessel according to the invention.
2 is a diagram showing the result of comparison of the magnetic field magnitudes of the traps in the case where the element coils of the traps according to the present invention are in the normal and abnormal states.
3 is a conceptual diagram of an apparatus for diagnosing the position of an element coil in an abnormal state of a vessel according to the present invention.
4 is a conceptual diagram of a system for diagnosing the position of an element coil, which is an abnormal state of a vessel according to the present invention.
FIG. 5 is a conceptual diagram of a hull of a ship according to the present invention divided into surface elements. FIG.
6 is a flow chart of an inverse problem analysis method for searching for the distribution of magnetic charge distributed in the hull from the underwater magnetic field of a ship according to the present invention.
Fig. 7 is a view showing the definition of the magnetic charge distributed in the element line segments in the divided hull elements according to the present invention.
FIG. 8 is a diagram illustrating an example of a simulation of an abnormal state of an element coil according to the present invention, and a comparison result of magnitudes of an underwater magnetic field of a trap including an element coil in a normal and abnormal state in the above example.
9 is a three-dimensional visualization of the distribution of the magnetic flux of the hull according to the present invention.
10 is a conceptual diagram of a method for diagnosing the position of an element coil of a trap in an abnormal state of a trap according to the present invention.

It is to be understood that the words or words used in the present specification and claims are not to be construed in a conventional or dictionary sense and that the inventor can properly define the concept of a term to describe its invention in the best way And should be construed in accordance with the meaning and concept consistent with the technical idea of the present invention. Therefore, the embodiments described in the present specification and the configurations shown in the drawings are merely the most preferred embodiments of the present invention and are not intended to represent all of the technical ideas of the present invention. Therefore, various equivalents It should be understood that water and variations may be present. In the following description, well-known functions or constructions are not described in detail since they would obscure the invention in unnecessary detail. Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings.

BRIEF DESCRIPTION OF THE DRAWINGS Figure 1 is a layout of element coils in a vessel according to the invention. The element coils are installed in three axes such as L (longitudinal) coil, A (athwartship) coil and V (vertical) coil in the traps. In the vertical axis direction, the magnetic field decreases in the L-coil, in the transverse direction, the A-coil decreases, and in the vertical direction, the V-coil decreases. Lt; RTI ID = 0.0 > magnetic field. ≪ / RTI >

번째 소자코일에 비정상상태가 발생할 경우, 측정된 함정의 자기장 신호의 형태와 크기에 큰 왜곡이 발생한다. 여기서 소자코일에 비정상상태가 발생한 경우라 함은 소자코일과 관련된 전원고장, 코일 단선 혹은 함이 운항 중 국부적으로 착자되어 소자전류의 재 산정이 필요한 경우 등을 의미한다. 본 발명에서는 특정 소자코일에 비정상상태가 발생할 경우, 측정된 수중 자기장으로부터 역 문제(inverse problem) 해석을 통하여 선체의 자기전하 분포를 산출하고 이로부터 비정상 상태인 소자 코일의 위치를 정확하게 추정하게 된다. 2 is a diagram showing a comparison result of magnetic field magnitudes when the element coils of the traps according to the present invention are in the normal and abnormal states. The magnetic field signal of the vessel measured at a certain depth when the element coil of the vessel is operating normally has a minute size,

If an unsteady state occurs in the first element coil, a large distortion occurs in the shape and magnitude of the magnetic field signal of the measured traps. Here, the case where an abnormal state occurs in the element coil refers to a case where a power failure, coil disconnection or the like related to the element coil is locally generated during operation and re-calculation of the element current is required. In the present invention, when an abnormal state occurs in a specific element coil, the magnetic flux distribution of the hull is calculated through the inverse problem analysis from the measured underwater magnetic field, and the position of the element coil in an abnormal state is accurately estimated.

3 is a configuration diagram of an apparatus for diagnosing the position of an element coil which is abnormal in the traps according to the present invention. As shown in FIG. 3, a signal measuring unit 110 for measuring a magnetic field signal generated in a ship and a magnetic measuring unit 110 for distributing a magnetic charge of a magnetic field signal to a discrete form A preprocessing unit 130 for dividing the surface of the ship's hull into a plurality of surface elements and setting measurement data measured by the signal measuring unit 110 as target data for inverse problem analysis; ) And the shape information of the traps divided into a plurality of surface elements by the preprocessing unit 130. The inverse problem analysis method is used to analyze the magnetic field signals And an inverse problem analyzing unit 150 for determining the size of the element coil of the vessel which is in an abnormal state by visualizing the magnetic field distribution of the surface of the hull derived from the analysis result by the inverse problem analyzing unit, It may include a visualization unit 170 for diagnosis.

Specifically, the signal measuring unit 110 may include a data storage device for measuring a magnetic field signal generated in the vessel and storing the measured magnetic field signal.

Next, referring to FIG. 5, a specific operation of the preprocessing unit 130 will be described. FIG. 5 is a conceptual view for dividing the hull of a ship into a surface element 201 in the pretreatment unit according to the present invention. As shown in FIG. 5, the pre- In order to distribute the magnetic charge in discrete form, the surface of the ship's hull is divided into a number of surface elements. In addition, the preprocessing unit 130 sets the magnetic field signal received by the signal receiving unit 110 as target data in the next inverse problem analysis.

The inverse problem analyzing unit 150 analyzes the magnetic field signal of the ship received by the signal measuring unit 110 and the shape information of the ship divided into a plurality of surface elements 201 by the preprocessing unit 130 The size of the magnetic charge distributed in the nodes of each element of the vessel is determined by using the inverse problem analysis method. The detailed flow of the inverse problem analysis method will be described in the description of FIG. 6 which will be described later.

Meanwhile, the visualization unit 170 visualizes the distribution of the magnetic field on the surface of the ship, which is derived from the analysis result of the inverse problem analysis unit 150, in three dimensions, and diagnoses the position of the element coil of the vessel in an abnormal state.

4 is a conceptual diagram of a system for diagnosing the position of an elementary coil which is abnormal in the traps according to the present invention. As shown in FIG. 4, the system for diagnosing the position of an element coil of an unsteady trap according to the present invention includes an apparatus for diagnosing the position of an element coil of an unsteady trap, a trap 200 for generating a magnetic field signal, A plurality of magnetic field sensors 401 to 403 installed at a certain depth of water, and a land control device 310 and a marine control device 210 for measuring a distance between the magnetic field sensor and the ship. The signal measuring unit 110 of the apparatus for diagnosing the position of the element coil of the traps in an abnormal state includes a magnetic field sensor 401 to 403 and a data storage unit for storing signals measured from the terrestrial control unit 310. [ (110) for measuring a magnetic field signal generated in the vessel, and a signal measuring unit (110) for measuring the magnetic field signal generated by the magnetic field signal generating unit a pretreatment step of dividing the surface of the ship's hull into a plurality of surface elements to distribute the magnetic charge in a discrete form and setting the measurement data measured by the signal measuring part as target data for inverse problem analysis (130), a magnetic field signal of the traps measured by the signal measuring unit (110), and a shape of the traps divided into a plurality of surface elements by the preprocessing unit (150) for determining the magnitude of the self-flux distributed to the nodes of each element of the vessel by using the method of claim 1; and an inverse problem analysis unit And a visualization unit 170 for diagnosing the position of the element coil of the traps in an abnormal state.

 The specific functions of the components of the signal measuring unit 110 are as described above.

Also, the terrestrial control device 310 and the marine control device 210 may be configured as DGPS (Differential GPS) equipment.

)를 0으로 설정하고 k번째 반복단계에서 구해진 설계변수의 크기(

)로 부터 측정지점과 동일한 지점에서의 자기장 신호의 크기(

)를 계산하는 단계와, 상기 계산된 자기장 신호의 크기(

)로 부터 목적함수(

), 가상소스(

) 및 보조변수(

)를 각각 계산하는 단계와, 상기 계산된 가상 소스(

) 및 보조변수(

)로 부터 매질 민감도(

)를 계산하는 단계와, 상기 계산된 매질 민감도(

)와 목적함수(

)의 크기에 의해 해(解)의 수렴 여부를 판단하는 단계와, 상기 판단결과, 해가 수렴하면 역 문제 해석을 종료하고, 수렴되지 않으면 설계변수(

)의 크기를 달리하여 해가 수렴될 때까지 상기 목적함수(

)와 매질 민감도(

)를 계산하는 과정을 반복 수행하는 단계를 포함한다. 역 문제 해석방법은 함정 내의 비정상 상태의 소자 코일의 위치를 검출하기 위해, 먼저 목적함수와 설계변수를 정의한다. 상기 목적함수는 함정의 소자코일의 비정상 상태가 발생하기 전 및 발생한 후의 일정한 수심에서 관측된 자기장 신호의 크기의 차이와 상기 설계변수로부터 계산된 자기장 신호 크기와의 차이의 자승을 모두 합산한 결과로 정의한다. 이때 정상 소자 상태의 수중 자기장 신호는 비정상 소자 상태의 자기장 신호에 비해 크기가 상대적으로 작기 때문에 0으로 설정하여도 비정상 상태인 소자코일을 진단할 경우 그 영향이 미약하다. 6 is a flow chart of an inverse problem analysis method for searching for the distribution of magnetic charge distributed in the hull from the underwater magnetic field of a ship according to the present invention. The inverse problem analysis method includes the steps of: defining a design parameter and an objective function for calculating a magnitude of a magnetic field signal; determining, after the design variables and the objective function are defined, Comprising the steps of: collecting shape information of a ship divided by a plurality of surface elements by means of an initial value

) Is set to 0 and the size of the design variable obtained in the k-th iteration step (

The magnitude of the magnetic field signal at the same point as the measurement point (

Calculating a magnitude of the magnetic field signal

) From the objective function (

), A virtual source (

) And auxiliary variables (

), Respectively, and calculating the calculated virtual source (

) And auxiliary variables (

) To medium sensitivity

Calculating the medium sensitivity (< RTI ID = 0.0 >

) And the objective function (

, And if the solution converges, the inverse problem analysis is terminated. If the convergence is not converged,

) Until the solution is converged,

) And medium sensitivity

) Is repeatedly performed. The inverse problem analysis method first defines the objective function and design variables in order to detect the position of the element coil in an abnormal state in the trap. The objective function is a result of summing up the magnitudes of the difference between the magnitude of the magnetic field signal observed at a certain water depth before and after the occurrence of the abnormal state of the element coil of the vessel and the magnitude of the magnetic field signal calculated from the design variable define. In this case, since the underwater magnetic field signal in the steady state is relatively small compared to the magnetic field signal in the abnormal element state, the influence of the underwater magnetic field signal is insignificant when it is diagnosed as an abnormal state.

(magnetization)의 크기를 요소를 구성하는 각 선분 상의 스칼라 량을 갖는 자기전하(

)형태로 변환하여 정의한다. 이는 역 문제 해석 시 시스템의 미지수의 개수를 감소시키기 위함이다. 초기 설계변수, 즉 각 요소 선분 상의 미지변수인 자기전하의 값(

)은 0으로 설정한다. 결국, 역 문제 해석을 통한 반복계산 과정을 거쳐 목적함수를 최소화할 수 있는 선체 표면의 자기전하 분포를 탐색하는 것으로 귀착된다. Here, the design parameters are obtained by dividing the hull surface into a plurality of finite elements as shown in Fig. 7,

the magnitude of the magnetization is calculated by dividing the magnitude of the magnetic charge having a scalar quantity on each line segment constituting the element

). This is to reduce the number of unknowns in the system when interpreting the inverse problem. The initial design variables, ie the value of the magnetic charge, the unknown variable in each element line segment (

) Is set to zero. Finally, it results in searching the distribution of the magnetic charge on the hull surface which can minimize the objective function through the iterative calculation process through inverse problem analysis.

)와 선체의 자하 분포에 의한 자기장(

)은 다음의 수식 관계로 정의된다.The above objective function (

) And the magnetic field due to the subducting distribution of the hull (

) Is defined by the following equation.

[Equation 1]

는 수중 자기장을 나타낸다. 여기서 아래 문자인 i는 각각 방향 벡터인 X축, Y축, Z축을 의미하고, j는 관측점을 의미한다. 또한,

는 관측점의 개수를 의미하고,

은 선체를 분할한 요소의 전체 선분의 개수이다.Here, the shoulder letters nor and abnor represent normal and abnormal element states, respectively,

Represents an underwater magnetic field. Here, i represents the directional vectors X, Y, and Z, respectively, and j represents the observation point. Also,

Means the number of viewpoints,

Is the total number of line segments of the element that divides the hull.

&Quot; (2) "

는 자기 투자율,

는 선체 두께,

는 k번째 요소 선분에서의 자하량,

은 선체 표면의 k번째 요소 선분과 관측점 사이의 거리,

은 해당 요소의 선분의 길이이다.here,

Magnetic permeability,

Is the thickness of the hull,

Is the self-contained amount in the kth element line segment,

Is the distance between the kth element line segment of the hull surface and the observation point,

Is the length of the line segment of the element.

)는 목적함수를 자기장에 대해 편미분 함으로써 구할 수 있고 이는 물리적으로 자화량에 해당한다. 각 관측점에서 계산된 가상의 자화량을 바탕으로 선체를 구성하는 요소의 각 선분 상에서 자기전위(magnetic potential)를 계산하여 보조변수(

)를 구한다. 선체 요소의 선분 상에서 계산된 보조변수와 자화량을 바탕으로 매질 민감도(

)를 계산한다. 여기서, 매질 민감도란 선체 요소의 각 선분 상의 자화량의 미소변화에 대한 목적함수의 미소변화량, 즉 기울기 정보를 말한다. 이때 “

"의

는 설계변수를 의미하는 것으로 여기서는 자화량(

)에 해당한다. The amount of magnetic charge on the hull surface is updated through every iterative calculation process, and the magnetic field at the observation point is calculated using the updated amount of magnetic charge and Equation 2 above. Then, the objective function value at the current design stage is derived by Equation (1). Analysis of the auxiliary system is required to calculate the linear differential information of the objective function for the magnetic charge on each element line segment, which is a design variable, using the analytical medium sensitivity formula. The virtual sources used in these subsystems (

) Can be obtained by partial differentiation of the objective function with respect to the magnetic field, which corresponds to the amount of magnetization physically. Based on the imaginary magnitudes calculated at each observation point, the magnetic potential is calculated on each line segment of the elements constituting the hull,

). Based on the auxiliary variables and magnetization values calculated on the line segments of the hull element,

). Here, the medium sensitivity refers to the amount of minute change in the objective function, that is, the slope information with respect to a minute change in the magnetization amount on each line segment of the hull element. At this time "

"of

Is a design variable. Here, the magnetization amount (

).

), 보조변수(

)와 매질 민감도(

)는 다음의 수식 관계로 정의된다.The above virtual source (

), Auxiliary variables (

) And medium sensitivity

) Is defined by the following equation.

&Quot; (3) "

는

번째 관측점에서 자화량(

)의

번째 방향성분이다.here,

The

Magnetization amount at the second observation point (

)of

Direction component.

&Quot; (4) "

번째 선분에서의 보조변수(

)는 각 관측점에서 자화량

에 의해 발생하는

번째 선분에서의 자기전위의 합이다.Here,

Of the second line segment (

) Is the magnitude of magnetization

Caused by

Lt; th > line segment.

&Quot; (5) "

는 요소의

번째 선분에서 계산되는 매질 민감도 값이다.here,

Of the element

Is the medium sensitivity value calculated in the second line segment.

The amount of magnetization calculated from the line segments of each hull element is modified through every iteration. As shown in FIG. 6, the above processes perform an iterative calculation, and when the variation of the objective function is calculated to a predetermined level or less, the iterative process is completed. Through such iterative calculations, we can find the distribution of the magnetic charge on the surface of the hull which has the minimum objective function, that is, the underwater magnetic field difference that occurs in steady and unsteady elements. This can be visualized in three dimensions to diagnose the position of the element coil, which is an abnormal state in the vessel that generates the underwater magnetic field difference observed at a certain depth of water.

FIG. 8 is a diagram illustrating an example of a simulation of an abnormal state of an element coil according to the present invention, and a comparison result of magnitudes of underwater magnetic fields of a trap including element coils in a normal state and an abnormal state in the above example. For the embodiment of the present invention, as shown in FIG. 1, the failure of the element coil is simulated in a vessel having a total of 20 element coils each including 10 L coils and 5 A coils and 5 V coils, respectively. The failure coil simulation considers three failure cases shown in Fig. 1, namely, an L ₆ coil failure, an A ₃ coil failure, and a V _{2 and} V ₃ coil failure. FIG. 8 shows the difference of the underwater magnetic field signal of the trap including the element coil which is a normal / abnormal state observed at a certain depth when an abnormal state of the element coil occurs in the trap. As shown in FIG. 8, it can be seen that there are different variations between the X, Y, and Z axis components representing the difference of the underwater magnetic field depending on the type of the failure coil. Through the inverse problem analysis using the medium sensitivity method proposed in the present invention, the magnetic charge distribution on the surface of the hull corresponding to the underwater magnetic field difference is searched according to the simulation condition of the failure coil.

9 is a three-dimensional visualization of the distribution of the magnetic flux of the hull according to the present invention. Fig. 9 shows the distribution of magnetic charge obtained from the surface of the hull according to the above three failure coil simulation conditions. As shown in FIG. 9, it can be seen that the patterns of magnetic charge distributed on the surface of the ship are different according to three failure conditions. That is, in Case I, which is a failure of L ₆ coil, the negative and positive distributions of magnetic charge are distributed in the bottom portion and the fault coil is located between these charge distributions. The distribution of magnetic charge corresponding to Case II in case of A ₃ coil failure can be confirmed that magnetic negative charge and positive charge are concentrated on both sides of the hull. Finally, in Case III, which is a two-coil fault of V ₂ and V ₃ , the distribution of magnetic charge is concentrated on deck and bottom, and the range of charge distribution is wider than those of the two cases. As described above, the distribution of the magnetic charge in the ship is visualized three-dimensionally, and the distribution of the negative and positive charges of the magnetic charge is quickly identified. From this, the fact that the element coil between the negative and positive distributions of the magnetic charge is in an abnormal state, Can be diagnosed.

10 is a flow chart of a method for diagnosing the location of an elementary coil that is unstable in a vessel according to the present invention. As shown in FIG. 10, (a) a detection signal of the sensor according to the relative distance between the magnetic field sensor and the vessel is transmitted to the marine control unit 210 of the signal measurement unit 110, (S401) of measuring the magnetic field signal received by the control unit 310, and (b) measuring the magnetic field signal by the pre-processing unit 130 in order to distribute the magnetic field signal magnetic field in a discrete form on the surface of the ship A step S402 of dividing the surface of the ship's hull into a plurality of surface elements, (c) a magnetic field signal of the vessel measured by the signal measuring unit 110, The size of the magnetic charge distributed to the nodes of the respective elements of the vessel is determined using the inverse problem analysis method by the inverse problem analyzer 150 based on the shape information of the vessel Step S403, and (d) By visualizing the distribution of the hull surface zaha derived from the inverse problem analysis result by the seokbu in three dimensions and may include a step (S404) for diagnosing the position of the element coils of the abnormal state trap. Each of the above steps is the same as the function of the device for diagnosing the position of the element coil of the trap, which is the abnormal state described above, and a detailed description thereof will be omitted.

It is to be understood that both the foregoing general description and the following detailed description of the present invention are exemplary and explanatory only and are not restrictive of the invention, as claimed, and will be fully understood by those of ordinary skill in the art. The present invention is not limited thereto. It will be apparent to those skilled in the art that various changes, substitutions, and alterations can be made hereto without departing from the spirit of the invention, and it is obvious that those parts which are easily changed by those skilled in the art are also included in the scope of the present invention.

110: Signal measurement unit
111: Data storage device
130:
150: reverse problem interpreting part
170:
200: Trap
201: Cotton element
210:
310: Land control device
401 ~ 403: magnetic field sensor
500: constant water depth

Claims (14)

A signal measuring unit for measuring a magnetic field signal generated in the vessel;
The surface of the ship's hull is divided into a plurality of surface elements in order to distribute the magnetic field signal magnetic field in the discretized form on the surface of the ship's hull, and the measurement data measured by the signal measuring section is set as target data for inverse problem analysis Lt; / RTI >
The magnetic field signal of the traps measured by the signal measuring unit and the shape information of the traps divided into a plurality of surface elements by the preprocessing unit, An inverse problem analyzing unit for determining the size of the input image; And
The position of the element coil of the unsteady trap including the visualization unit for visualizing the magnetic field distribution of the surface of the hull derived from the analysis result by the inverse problem analysis unit in three dimensions and diagnosing the position of the element coil of the trap in an abnormal state, In an apparatus for diagnosing,
Wherein the visualization unit displays a negative or positive distribution of the magnetic charge so as to diagnose that the element coil between the negative and positive distributions of the magnetic charge in the three-dimensional distribution of the magnetic flux distribution of the ship is in an abnormal state. A device for diagnosing the position of an element coil of a trap that is in a state.
The method according to claim 1,
The signal measuring unit includes a plurality of magnetic field sensors installed at a predetermined depth for detecting a magnetic field signal, a terrestrial control device and a marine control device for measuring a relative distance between the magnetic field sensor and the vessel by measuring a trajectory of the vessel, An apparatus for diagnosing the location of an elementary coil of an unsteady trap including a sensor and a data storage device for storing a measured signal from a terrestrial control device. 3. The method of claim 2,
Wherein the land control device and the marine control device are DGPS (Differential GPS) devices. The method according to claim 1,
Wherein the inverse problem analysis unit obtains the size of the discoid distributed discrete in the nodes of each surface element of the vessel divided by the preprocessing unit from the target data using the inverse problem analysis method, And the inverse problem analysis is terminated when the difference is within a convergence range of the objective function. The apparatus according to claim 1, Apparatus for diagnosing position. 5. The method of claim 4,
The objective function is a sum of the difference between the magnitude of the magnitude of the magnetic field signal observed at a certain depth before the occurrence of the abnormal state of the element coil of the traps and the magnitude of the magnitude of the magnetic field signal calculated from the design variables Wherein the device is in the abnormal condition. delete A diagnostic method for diagnosing a position where an abnormal state of an element coil of a vessel including a signal measuring unit, a preprocessing unit, an inverse problem analyzing unit, and a visualizing unit occurs,
(a) receiving a sensing signal of the sensor according to a relative distance between the magnetic field sensor and the vessel as the trajectory moves along the trajectory, and measuring the magnetic field signal by receiving the signal at the sea level control device and the terrestrial control device;
(b) dividing the surface of the ship's hull into a plurality of surface elements by the pretreatment unit in order to distribute the magnetic field signals in the discretized form on the surface of the hull of the ship;
(c) using the inverse problem analysis method by the inverse problem analysis unit, based on the magnetic field signal of the trap measured by the signal measuring unit and the shape information of the trap divided into a plurality of surface elements by the preprocessing unit Determining the magnitude of the magnetic flux distributed to nodes of each element of the vessel; And
(d) visualizing the hypocentral distribution of the surface of the hull, which is derived from the inverse problem analysis result by the inverse problem analysis unit, in three dimensions, and diagnosing the position of the element coil of the trap in an abnormal state, A method for diagnosing a position of an element coil,
(D) is a graph showing the distribution of negative and positive charges of the magnetic charge in the three-dimensional visualization of the distribution of the magnetic charge of the hull, and the negative and positive distributions of the magnetic charge are plotted, And the element coil between the positive distribution and the negative distribution is in an abnormal state. 8. The method of claim 7,
The inverse problem analysis method in the step (c)
Defining a design parameter and an objective function for calculating a magnitude of a magnetic field signal;
Collecting the shape information of the traps divided into a plurality of surface elements by the preprocessing unit and the magnetic field signal of the traps measured by the signal measuring unit after the design variables and the objective function are defined;
The initial values of the design variables

) Is set to 0 and the size of the design variable obtained in the k-th iteration step (

The magnitude of the magnetic field signal at the same point as the measurement point (

);
The magnitude of the calculated magnetic field signal (

) From the objective function (

), A virtual source (

) And auxiliary variables (

Respectively;
The calculated virtual source (

) And auxiliary variables (

) On the basis of the medium sensitivity

);
The calculated medium sensitivity (

) And the objective function (

Determining whether the solution is converged by the size of the solution; And
As a result of the determination, if the solution converges, the inverse problem interpretation is terminated. If convergence is not achieved,

) Until the solution is converged,

) And medium sensitivity ) Of the trajectory of the trajectory of the trapezoid. 9. The method of claim 8,
The design parameter is defined by dividing the hull surface into a plurality of finite elements and then converting the magnitude of the magnetization having the vector quantity in the element into a magnetic charge shape having a scalar quantity on each line segment constituting the element. It is a result of summing up the difference of the magnitude of the magnetic field signal observed at a certain depth before and after the occurrence of the abnormal state of the element coil of the vessel and the square of the difference between the magnitude of the magnetic field signal calculated based on the design variable The method comprising the steps of: 9. The method of claim 8,
The size of the design variable (

The magnitude of the magnetic field signal calculated on the basis of

) Is expressed by the following equation: " (1) "

here,

Magnetic permeability,

Is the thickness of the hull,

Is the self-contained amount in the kth element line segment,

Is the distance between the kth element line segment of the hull surface and the observation point,

Is the length of the line segment of the element. 9. The method of claim 8,
The objective function (

) Is expressed by the following equation: " (1) "

Here, the shoulder letters nor and abnor are normal and abnormal element states, respectively,

Is an underwater magnetic field. Here, the following character i is an X-axis, a Y-axis, and a Z-axis, which are direction vectors, and j is a viewpoint. Also,

Is the number of observation points,

Is the total number of line segments of the element that divides the hull. 9. The method of claim 8,
The virtual source (

) And auxiliary variables (

) Is expressed by the following equation: < RTI ID = 0.0 >#< / RTI >

here,

The

Magnetization amount at the second observation point (

)of

Of the hull element,

Of the second line segment (

) Is the magnitude of magnetization

Caused by

Lt; th > line segment. 9. The method of claim 8,
The medium sensitivity (

) Is expressed by the following equation: " (1) "

here,

Of the element

Is the medium sensitivity value calculated in the second line segment. delete

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